Robot control algorithm constructing apparatus
AssigneeFujitsu Limited
InventorFumio Nagashima
Life of this patent
Estimating the term…
Abstract
A control algorithm constructing device that constructs a control algorithm controlling the motion of a robot, and a controller that controls the motion of the robot in accordance with the constructed control algorithm, with the purpose of reducing the cost and time taken to create the control algorithm as compared with the conventional method such as an MZP method to solve a mechanical equation, in which the control algorithm is constructed by a recurrent neural network (RNN) including a neuron generating an output with an analogue lag with respect to an input, the coefficients of the RNN are determined in succession from the term of lower degree to the term of higher degree.
Claims18
A robot control algorithm constructing apparatus that constructs a control algorithm controlling the operation of a robot having at least one joint connecting two members to make the relative position or attitude between the two members variable, comprising:
- a definition storage section that stores a definition of a neuron to produce an output with an analogue lag including a zero lag based on an input;
- a control algorithm generation section that generates a control algorithm with coefficient values undetermined, constructed by a recurrent neural network having plural neurons and including at least one lag neuron to produce an output with an analogue lag excluding a zero lag in the plural neurons, in which there is a loop of signal flow, employing the definition stored in the definition storage section;
- and
- a coefficient value determination section that determines a coefficient value for the control algorithm generated by the control algorithm generation section.
A robot control algorithm constructing program that is executed in an information processing apparatus performing a program and enables the information processing apparatus to operate as a robot control algorithm constructing apparatus that constructs a control algorithm controlling the operation of a robot having at least one joint connecting two members to make the relative position or attitude between the two members variable, the robot control algorithm constructing program causing the information processing apparatus to operate as the robot control algorithm constructing apparatus comprising:
- a definition storage section that stores a definition of a neuron to produce an output with an analogue lag including a zero lag based on an input;
- a control algorithm generation section that generates a control algorithm with coefficient values undetermined, constructed by a recurrent neural network having plural neurons and including at least one lag neuron to produce an output with an analogue lag excluding a zero lag in the plural neurons in accordance with an operation, in which there is a loop of signal flow, employing the definition stored in the definition storage section;
- and
- a coefficient value determination section that determines a coefficient value for the control algorithm generated by the control algorithm generation section.
A robot controller that controls the operation of a robot having at least one joint connecting two members to make the relative position or attitude between the two members variable, comprising:
- a control algorithm storage section that generates a control algorithm constructed by a recurrent neural network having plural neurons to produce an output with an analogue lag including a zero lag based on an input and including at least one lag neuron to produce an output with an analogue lag excluding a zero lag in the plural neurons, in which there is a loop of signal flow;
- and
- a robot control section that controls the robot of control object employing a control signal generated based on the control algorithm stored in the control algorithm storage section.
A robot control program that is executed in an information processing apparatus performing a program and enables the information processing apparatus to operate as a robot controller that controls the operation of a robot having at least one joint connecting two members to make the relative position or attitude between the two members variable, the robot control program causing the information processing apparatus to operate as the robot controller comprising:
- a control algorithm storage section that generates a control algorithm constructed by a recurrent neural network having plural neurons to produce an output with an analogue lag including a zero lag based on an input and including at least one lag neuron to produce an output with an analogue lag excluding a zero lag in the plural neurons, in which there is a loop of signal flow;
- and
- a robot control section that controls the robot of control object employing a control signal generated based on the control algorithm stored in the control algorithm storage section.
A robot having at least one joint connecting two members to make the relative position or attitude between the two members variable, in which the robot has a robot controller that controls the operation of the robot, the robot controller comprising:
- a control algorithm storage section that stores a control algorithm constructed by a recurrent neural network having plural neurons to produce an output with an analogue lag including a zero lag based on an input and including at least one lag neuron to produce an output with an analogue lag excluding a zero lag in the plural neurons, in which there is a loop of signal flow;
- and
- a robot control section that controls the operation of the robot employing a control signal generated based on the control algorithm stored in the control algorithm storage section.
Dependencies are inferred from the claim text.